CN202987321U - Three-degrees-of-freedom joint module of snake robot - Google Patents

Three-degrees-of-freedom joint module of snake robot Download PDF

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Publication number
CN202987321U
CN202987321U CN 201220601559 CN201220601559U CN202987321U CN 202987321 U CN202987321 U CN 202987321U CN 201220601559 CN201220601559 CN 201220601559 CN 201220601559 U CN201220601559 U CN 201220601559U CN 202987321 U CN202987321 U CN 202987321U
Authority
CN
China
Prior art keywords
pitching
motor
straight gear
gear
joint module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN 201220601559
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Chinese (zh)
Inventor
张业林
毛成果
山显雷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China University of Mining and Technology CUMT
Original Assignee
China University of Mining and Technology CUMT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China University of Mining and Technology CUMT filed Critical China University of Mining and Technology CUMT
Priority to CN 201220601559 priority Critical patent/CN202987321U/en
Application granted granted Critical
Publication of CN202987321U publication Critical patent/CN202987321U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a three-degrees-of-freedom joint module of a snake robot. The three-degrees-of-freedom joint module comprises stepper motors, a transmission mechanism, a T-shaped shaft, a connecting plate and a shell. The stepper motors include a twisting stepper motor, an offsetting stepper motor and a pitching stepper motor, the twisting stepper motor directly drives a rear joint module to be in twisting movement, the offsetting stepper motor drives the connecting plate to be in offsetting movement via the transmission mechanism, the pitching stepper motor drives the connecting plate to be in pitching movement via the transmission mechanism, the transmission mechanism comprises the T-shaped shaft, an offsetting spur gear, a pitching spur gear, the connecting plate and two bevel gears, the offsetting spur gear is fixed to the first bevel gear, the two bevel gears are meshed with each other, and the connecting plate is fixed to the bottom of the second bevel gear. The three-degrees-of-freedom joint module has three degrees of freedom, and is high in cross-country capability.

Description

A kind of snake-shaped robot three degree of freedom joint module
Technical field
The utility model relates to robot research and engineering field, specifically a kind of snake-shaped robot three degree of freedom joint module.
Background technology
Snake-shaped robot is a kind of highly redundant degree robot, its mode of motion is different with general wheeled and legged type robot, and can complete complicated task at narrow space, snake-shaped robot generally is comprised of a plurality of joint modules, in present existing snake-shaped robot, the 26S Proteasome Structure and Function of joint module is also had nothing in common with each other, and general joint module comprises control part, drive part and running part, is separating component; The control part of some snake-shaped robot comprises drive part; The module integration degree that these modes consist of is not high, is unfavorable for reducing the volume of module, installs, debugs complicated.
Summary of the invention
Goal of the invention: in order to solve the deficiencies in the prior art, the utility model provides that a kind of integrated level is high, debugging is simple, control operation three degree of freedom snake-shaped robot joint module easily.
technical scheme: in order to realize above purpose, a kind of snake-shaped robot three degree of freedom joint module described in the utility model, comprise stepping motor, transmission device, it is characterized in that: also comprise connecting panel and shell, described stepping motor comprises the torsion stepping motor, the skew stepping motor, the pitching stepping motor, described transmission device is by skew motor straight gear, the offset straight gear, the first bevel gear, the second bevel gear, the pitching motor straight gear, pitching straight gear and T oblique crank Z form, wherein: skew motor straight gear is arranged on the skew motor, mesh with the offset straight gear, offset straight gear and bevel gear are fixed together, the first bevel gear is meshed with the second bevel gear, connecting panel is fixed on the bottom of the second bevel gear, the pitching motor straight gear is arranged on pitching motor, mesh with the pitching straight gear, the pitching straight gear is fixed on the T oblique crank Z.
The torsion of snake-shaped robot, skew and luffing are controlled separately by reversing motor, skew motor and pitching motor respectively, do the connecting bore that is connected in last joint module on connecting panel.
Beneficial effect: the utility model compared with prior art has the following advantages: joint module has torsion, skew and pitching three degree of freedom, and motion flexibly; A motor-driven one degree of freedom need not pass through the decoupling zero computing, and it is convenient, reliable to control; Skew left and right 90 degree, pitching is 90 degree up and down, turn over 360 deg, range of movement is wide; The assembly unit of snake-shaped robot is simple, joins before and after identical module and can complete the assembly unit of robot.
Description of drawings
Fig. 1 is the utility model structural representation.
The part of Fig. 1 is: reverse motor 1, skew stepping motor 2, skew motor straight gear 3, offset straight gear 4, the first bevel gear 5, connecting panel 6, the second bevel gear 7, T oblique crank Z 8, pitching straight gear 9, shell 10, pitching motor straight gear 11 and pitching motor 12.
The specific embodiment
as depicted in figs. 1 and 2, the utility model comprises torsion motor (1), skew stepping motor (2), skew motor straight gear (3), offset straight gear (4), the first bevel gear (5), connecting panel (6), the second bevel gear (7), T oblique crank Z (8), pitching straight gear (9), shell (10), pitching motor straight gear (11) and pitching motor (12), described skew motor straight gear (3) is arranged on skew stepping motor (2), and mesh with offset straight gear (4), offset straight gear (4) is fixed together with the first bevel gear (5), the first bevel gear (5) is meshed with the second bevel gear (7), connecting panel (6) is fixed on the bottom of the second bevel gear (7), can drive connecting panel (6) and do the offset movement of left and right when skew motor straight gear (3) rotates, described pitching motor straight gear (11) is installed on pitching motor (12), and mesh with pitching straight gear (9), pitching straight gear (9) is fixed together with T oblique crank Z (8), can drive connecting panel (6) and do the luffing of up and down when pitching motor (12) rotates, described torsion motor (1) is connected with a rear joint module, can drive the snake-shaped robot health and do flip-flop movement when reversing motor (1) rotation.

Claims (2)

1. snake-shaped robot three degree of freedom joint module, comprise stepping motor, transmission device, it is characterized in that: also comprise connecting panel (6) and shell (10), described stepping motor comprises torsion stepping motor (1), skew stepping motor (2), pitching stepping motor (12), described transmission device is by skew motor straight gear (3), offset straight gear (4), the first bevel gear (5), the second bevel gear (7), pitching motor straight gear (11), pitching straight gear (9) and T oblique crank Z (8) form, wherein: skew motor straight gear (3) is arranged on skew motor (2), mesh with offset straight gear (4), offset straight gear (4) is fixed together with bevel gear (5), bevel gear (5) is meshed with bevel gear (7), connecting panel (6) is fixed on the bottom of bevel gear (7), pitching motor straight gear (11) is arranged on pitching motor (12), mesh with pitching straight gear (9), pitching straight gear (9) is fixed on T oblique crank Z (8).
2. a kind of snake-shaped robot three degree of freedom joint module according to claim 1, is characterized in that: reverse directly torsion, skew and the luffing of driving snake-shaped robot respectively of stepping motor (1), skew stepping motor (2), pitching stepping motor (12).
CN 201220601559 2012-11-15 2012-11-15 Three-degrees-of-freedom joint module of snake robot Expired - Fee Related CN202987321U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220601559 CN202987321U (en) 2012-11-15 2012-11-15 Three-degrees-of-freedom joint module of snake robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220601559 CN202987321U (en) 2012-11-15 2012-11-15 Three-degrees-of-freedom joint module of snake robot

Publications (1)

Publication Number Publication Date
CN202987321U true CN202987321U (en) 2013-06-12

Family

ID=48558525

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201220601559 Expired - Fee Related CN202987321U (en) 2012-11-15 2012-11-15 Three-degrees-of-freedom joint module of snake robot

Country Status (1)

Country Link
CN (1) CN202987321U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107283410A (en) * 2017-05-24 2017-10-24 中国矿业大学 A kind of snakelike inspection robot mechanism of elevator cage guide based on magnetic wheel driven automatic scan

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107283410A (en) * 2017-05-24 2017-10-24 中国矿业大学 A kind of snakelike inspection robot mechanism of elevator cage guide based on magnetic wheel driven automatic scan

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Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130612

Termination date: 20131115

C17 Cessation of patent right